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direction control(PID control)

Proportion : p_gein = parameter * difference of target direction between the current direction Integral : if (|last difference - difference| < parameter) i_gein = time * parameter2 Differencial : d_gein = angular_velocity * radius

motor power *= p_gein + i_gein + d_gein

finding ball direction(fuzzy control)

ball_x_vector = cos(ball1_direction) + cos(ball2_direction) + cos(ball3_direction) + cos(ball4_direction) + ...... + cos(ball^n_direction) ball_y_vector = sin(ball1_direction) + sin(ball2_direction) + sin(ball3_direction) + sin(ball4_direction) * ...... +sin(ball^n_direction) to calculate direction , atan(ball_y_vector / ball_y_vector)